TW201329485A - Wireless communication positioning method - Google Patents

Abstract

A wireless communication positioning method is disclosed for obtaining an estimated position of a mobile device. The wireless communication positioning method includes obtaining an angle of arrival for the mobile device relative to one of the plurality of base stations and obtaining a line of arrival extended along the angle of arrival from the one of the base stations, obtaining a plurality of measured distances of the plurality of base stations relative to the mobile device and obtaining a plurality of measured circles corresponding to the plurality of measured distances, generating a plurality of position lines according to the plurality of measured circles, and calculating the estimated position of the mobile device according to the plurality of position lines and the line of arrival.

Description

Wireless communication positioning method

The present invention relates to a wireless communication positioning method, and more particularly to a wireless communication positioning method for obtaining an estimated position of a mobile device.

With the development of wireless communication, the prior art has proposed a number of wireless positioning algorithms for estimating the location of a mobile device, including measuring the time of arrival of the mobile device by at least one base station, and arriving. Angle of arrival, signal strength, and time difference of arrival. Furthermore, wireless positioning will be limited by the effects of the transmission environment, such as noise in the channel, multipath transmission, multiple reception interference, and barriers in line-of-sight, and it will inevitably be encountered during the transmission of wireless signals. The reflection or diffraction effects do not accurately measure the line of sight between the mobile device and the base station. In other words, the non-line-of-sight environment will seriously affect the accuracy of the wireless positioning algorithm.

In the prior art, it has been provided to measure the arrival time corresponding to the feedback signal of the mobile device through a plurality of base stations, to form a plurality of circular equations, and to substitute a plurality of circular equations into a Taylor series algorithm ( Taylor series algorithm) to solve the intersection of a plurality of circular equations. However, these intersections are nonlinear equations, which must be used to estimate the estimated position of the mobile device through iterative methods and occupy a long computing time, resulting in practical limitations, wasting excessive computing time and hardware resources.

A wireless communication positioning method is provided herein, which is applicable to a wireless communication positioning system. By effectively reducing the computational complexity, this method can reduce the computation time and the hardware resources used, and at the same time improve the accuracy of estimating the estimated position of the mobile device.

In an embodiment, a wireless communication positioning method is disclosed for obtaining an estimated position of a mobile device, wherein the wireless communication positioning method includes obtaining the mobile device to arrive with one of a plurality of base stations. Angle, and obtaining an arrival line extending from the base station along the angle of arrival; obtaining a plurality of measurement distances of the mobile device relative to the plurality of base stations, and obtaining a plurality of quantities corresponding to the plurality of measurement distances respectively Measuring a circle; generating a plurality of position lines according to the plurality of measurement circles; and calculating the estimated position of the mobile device based on the plurality of position lines and the arrival line.

In another embodiment, a wireless communication positioning method is further disclosed for obtaining an estimated position of a mobile device. The wireless communication positioning method includes: obtaining an arrival line, the extension line extending through one of the plurality of base stations and the mobile device; obtaining a plurality of measurement circles respectively corresponding to the plurality of base stations, wherein the quantity The rounding system is generated according to the plurality of measuring distances of the mobile device relative to the plurality of base stations; generating, according to the plurality of measuring circles, a plurality of position lines; and calculating according to the plurality of position lines and the arrival line The estimated location of the mobile device.

Please refer to FIG. 1 , which is a schematic diagram of a wireless communication positioning system 10 according to an embodiment of the present invention. In the present embodiment, the wireless communication positioning system 10 includes three base stations BS1, BS2, BS3, and a mobile device (not shown). The base stations BS1, BS2, and BS3 are three base stations in the vicinity of the mobile device, wherein the base station BS1 is the base station closest to the mobile device, or a so-called serving base station. Here, for convenience of description, only three base stations are exemplified, and in different cases, seven or other suitable numbers may be used. As shown in FIG. 1B, another wireless communication is formed through seven base stations BS1 to BS7. The positioning system 12 is not intended to limit the scope of the invention.

Referring to FIG. 2, there is shown a wireless communication positioning process 20 according to an embodiment, which can be applied to the wireless communication positioning system 10 shown in FIG. 1A for obtaining an estimated position of the mobile device. The wireless communication location process 20 includes the following steps:

Step 200: Start.

Step 202: Obtain an arrival angle θ of the mobile device with respect to one of the base stations BS1 of the base stations BS1, BS2, BS3, and obtain an arrival line L1 extending from the base station BS1 by the arrival angle θ.

Step 204: Obtain the measurement distances D1, D2, and D3 of the mobile device with respect to the base stations BS1, BS2, and BS3, respectively, and obtain the measurement circles C1, C2, and C3 corresponding to the measurement distances D1, D2, and D3, respectively.

Step 206: According to the measurement circles C1, C2, and C3, position lines L12, L13, and L23 are generated.

Step 208: Calculate the estimated position of the mobile device according to the position lines L12, L13, L23 and the arrival line L1.

Step 210: End.

In detail, in the wireless communication positioning process 20, the base stations BS1, BS2, and BS3 exchange communication with the mobile device to exchange wireless signals. Therefore, this process can be performed by the base stations BS1, BS2, BS3 and the mobile device. More specifically, each step can be performed by one of the mobile devices or base stations BS1, BS2, BS3, respectively. Or, at each step, part of the information is calculated by the base stations BS1, BS2, and BS3, and then provided to the mobile device, and the mobile device can then calculate other information. Finally, the mobile device and/or the base station can recalculate its estimated location.

First, in step 202, the arrival angle θ between the mobile device and the base station BS1 may be measured first, and then the slope corresponding to the arrival angle of the base station BS1 is used to extend from both sides of the base station BS1. An arrival line L1 is formed. Preferably, the information of the arrival angle θ can be calculated by the base station BS1 and provided to the mobile device. After obtaining the arrival angle θ, the mobile device can then calculate the arrival line L1. Alternatively, the arrival angle θ and the arrival line L1 are both calculated by the base station BS1, and the base station BS1 provides the arrival line L1 to the mobile device.

In step 204, three measurement distances D1, D2, and D3 of the mobile device relative to the three base stations BS1, BS2, and BS3 are obtained, and corresponding to the three measurement distances D1, D2, and D3 are respectively generated. Three measuring circles of three base stations BS1, BS2 and BS3. Specifically, the arrival times T1, T2, and T3 of the wireless signals between the three base stations BS1, BS2, and BS3 and the mobile device can be obtained first, and then the arrival times T1, T2, and T3 are converted into the measurement distance D1. D2, D3. For the conversion method, for example, the three arrival times can be multiplied by the transmission speed (light speed) of the wireless signal to obtain the measurement distances D1, D2, and D3. Finally, the three measuring circles C1, C2 and C3 corresponding to the three base stations BS1, BS2 and BS3 are formed by taking the base stations BS1, BS2 and BS3 as the center and measuring the distances D1, D2 and D3 as the radii respectively. . Preferably, the measurement distances D1, D2, D3 and the measurement circles C1, C2, C3 can be calculated by the base stations BS1, BS2, and BS3, respectively, and then provided to the mobile device. Or the base stations BS1, BS2, BS3 obtain and calculate part of the information (for example, at least the arrival time T1, T2, T3), and then provide the mobile device to calculate other parts of the information (for example, at least the measurement circles C1, C2, C3) .

In step 206, any two of the measurement circles C1, C2, and C3 intersect at two intersections, and the two intersections form a position line, thereby generating three lines between the three measurement circles C1, C2, and C3. Position lines L12, L13, L23. The information of the three position lines L12, L13, L23 can be calculated by the base stations BS1, BS2, BS3, respectively, and provided to the mobile device, or calculated by the mobile device.

In step 208, in the position lines L12, L13, L23 and the arrival line L1, any of the two intersect at a point, thereby generating the first position intersection points P1, P2, P3 and P4, and then according to the first position The intersection points P1, P2, P3 and P4 obtain the estimated position of the mobile device. Preferably, the area where the circles C1, C2, and C3 intersect together is formed to form a suitable area Zone, and the intersection point of the appropriate area Zone is selected from the first position intersection points P1, P2, P3, and P4 to be the second position. The intersection points P1, P2 and P3 are used to exclude the intersection of the less likely position, and the calculation amount can be simplified by reducing the number of intersections of the positions. Next, the second position intersections P1, P2, and P3 can be substituted into different algorithms, such as a distance weighting method, a sorting average method, a sorting weight method, and a threshold value method to calculate the estimation of the mobile device. Measuring position. Step 208 is preferably implemented by a mobile device or by a base station.

It is worth noting that if there is no error, the three position lines L12, L13, L23 and the arrival line L1 may intersect at the same point, which is the position of the correct action station. However, due to the effect of the non-line-of-sight effect, the intersection of the first position will be scattered in a certain range, which is inaccurate with the correct position. Furthermore, considering the non-line-of-sight effect, the true distance of the line-of-sight distance cannot be measured according to the arrival time, that is, the measurement distances D1, D2, and D3 are larger than the true distance, so we can expect the true action table position, It will fall in the intersection area (ie, the appropriate area Zone) of the measurement circles C1, C2, C3 formed by the measurement distance. Therefore, by selecting the intersection point of the appropriate area Zone from the first position intersection points P1, P2, P3, and P4 as the second position intersection points P1, P2, and P3, the estimated position of the mobile device can be calculated more accurately.

In summary, according to the wireless communication positioning process 20, related information such as three position lines L12, L13, L23 and an arrival line L1 can be obtained, thereby estimating the location of the mobile device. In addition, in the process of calculation, the intersection point can be filtered through a suitable area to further increase the accuracy or reduce the amount of calculation.

Further, in step 208 of the wireless communication positioning process 20 shown in FIG. 2, the estimated position of the mobile device is calculated according to the position lines L12, L13, L23 and the arrival line L1, and may be further derived into a distance weighting process 30 to continue. Calculate the estimated position of the mobile device by substituting the distance weight method. As shown in FIG. 3, it shows a distance weighting process 30 according to an embodiment, comprising the following steps:

Step 300: Start.

Step 302: Find an average position according to the plurality of second position intersections.

Step 304: Obtain a plurality of weight values according to a plurality of relative distances of the second position intersection points with respect to the average position.

Step 306: Calculate the estimated position of the mobile device according to the plurality of weight values and the plurality of second intersection positions.

Step 308: End.

First, a plurality of second position intersections in the wireless communication positioning process 20 located in the appropriate area Zone (in the embodiment of FIG. 1A, the intersection points P1, P2, and P3) are substituted into the distance weighting process 30. For the sake of convenience, the second position intersection is simply referred to as the intersection point after that; in addition, in the formula used thereafter, the code number N represents the total number of all intersection points, and the code i represents an intersection point of all the intersection points, and each An intersection includes an X-axis coordinate and a Y-axis coordinate.

In the embodiment shown in Fig. 1A, N = 3 and a plurality of intersections are represented by P1 (X ₁ , Y ₁ ), P2 (X ₂ , Y ₂ ), P3 (X ₃ , Y ₃ ). In step 302, using the formula Calculate the average of the X-axis coordinates of all intersections as , reuse formula Calculate the average of the Y-axis coordinates of all intersections as . In step 304, the formula d _i = is used. ,1 i N calculates the weight values d ₁ , d ₂ , and d ₃ corresponding to the intersection points P1, P2, and P3, respectively. Finally, in step 306, the formula is utilized. with , the estimated position (X _d , Y _d ) of the mobile device can be calculated separately.

Further, in step 208 of the wireless communication positioning process 20 shown in FIG. 2, the estimated position of the mobile device is calculated according to the position lines L12, L13, and L23 and the arrival line L1, and may be further derived into a sorting average process 40. Continue to substitute for the estimated position of the sorted average calculation mobile device. As shown in FIG. 4, it shows a ranking averaging process 40 according to an embodiment, which includes the following steps:

Step 400: Start.

Step 402: Find an average position according to a plurality of second position intersections.

Step 404: Obtain a plurality of weight values according to a plurality of relative distances of the second position intersection points with respect to the average position.

Step 406: Select, according to a preset value, a plurality of weight values as a plurality of sort weight values.

Step 408: Calculate the estimated position of the mobile device according to the plurality of second intersection positions corresponding to the plurality of ranking weight values.

Step 410: End.

Notably, the ranking averaging process 40 is similar to the distance weighting process 30, i.e., steps 402, 404 of the ranking averaging process 40 are the same as steps 302, 304 of the distance weighting process 30, and therefore, steps 402, 404 of the ranking averaging process 40 will continue. The description of the distance weighting process 30 will not be repeated here. In step 406, the N weight values are incrementally arranged, and the first M are selected as the sort weight values among the N weight values. The preset value M satisfies M=0.5*N, and when M is not an integer, it can be adjusted according to different requirements. For example, in this embodiment, M=0.5*3=1.5. If the unconditional carry method is adopted, the system further takes M. The value is 2. Therefore, if d ₁ <d ₂ <d ₃ , d ₁ and d ₂ (M=2) are selected as the sort weight values. Next, in step 408, the formula is used according to the M intersection positions corresponding to the M ranking weight values. with Then, the average of the M intersections can be calculated as the estimated position (X _M , Y _M ) of the mobile device.

Further, step 208 of the wireless communication positioning process 20 shown in FIG. 2 is further derived into a sort weighting process 50 according to the position lines L12, L13, and L23 and the estimated position of the mobile device. The estimated position of the mobile device is calculated by continuing to enter the ranking weighting method. As shown in FIG. 5, it shows a ranking weighting process 50 according to an embodiment, comprising the following steps:

Step 500: Start.

Step 502: Determine an average position according to the plurality of second position intersections.

Step 504: Obtain a plurality of weight values according to a plurality of relative distances of the second position intersection points with respect to the average position.

Step 506: Select, according to a preset value, a plurality of weight values as a plurality of sort weight values.

Step 508: Calculate the estimated position of the mobile device according to the plurality of sort weight values and the corresponding plurality of second intersection positions.

Step 510: End.

Notably, the ranking weighting process 50 is similar to the ranking averaging process 40, that is, steps 502 through 506 of the sorting weighting process 50 are the same as steps 402 through 406 of the sorting average process 40, and therefore, step 502 to step of the ranking weighting process 50 506 will follow the relevant description of the ranking average process 40, and will not be described here. In step 508, the formula is used according to the M ranking weight values and their corresponding M intersection positions. with , the estimated position (X, Y) of the mobile device can be calculated.

Further, step 208 of the wireless communication positioning process 20 shown in FIG. 2 calculates the estimated position of the mobile device according to the position lines L12, L13, L23 and the arrival line L1, and may be further derived into a threshold value flow 60 to continue. Substitute the limit value method to calculate the estimated position of the mobile device. As shown in FIG. 6, it shows a threshold value flow 60 in accordance with an embodiment, comprising the steps of:

Step 600: Start.

Step 602: Determine an average relative distance according to a plurality of relative distances between the intersections of the plurality of second positions.

Step 604: Comparing the plurality of relative distances with the average relative distances respectively to obtain a plurality of weight values.

Step 606: Calculate the estimated position of the mobile device according to the plurality of weight values and the plurality of second intersection positions.

Step 608: End.

In this embodiment, the threshold value process 60 also takes into account a plurality of second location intersections in the appropriate area Zone in the wireless communication location process 20. For convenience, the threshold value flow 60 also follows the basic assumption of the distance weighting process 30, that is, the second position intersection is referred to as the intersection point, the code number N represents the total number of all intersection points, and the code i represents any intersection point of each intersection point, each The intersection points include the X-axis coordinates and the Y-axis coordinates. In step 602, the relative distance between any two of the N intersection points is first calculated as d _mn , where the code numbers m and n represent any two points of the N intersection points and satisfy 1≦m, n≦N; further, calculate N The average of all relative distances d _mn corresponding to the intersection point is used to preset a distance threshold D _thr . In step 604, a plurality of weight values I _m , I _n are preset to correspond to all relative distances d _mn , and initial values of the plurality of weight values are all zero; further, all relative distances d _mn and distance thresholds are compared. The magnitude of D _thr , if any relative distance d _{mn is} less than or equal to the distance threshold D _thr , correspondingly increases the value of the threshold weights I _m and I _n of the relative distance d _mn by one. In step 606, according to the coordinates of the intersection of the N and threshold weights corresponding to the weight value I _i, using equation with , the estimated position (X _t , Y _t ) of the mobile device can be calculated separately.

Briefly, the different embodiments described above are a plurality of intersections (second position intersections) in the appropriate area Zone in the wireless communication positioning process 20, respectively, through the distance weighting process 30, the sorting average process 40, the sorting weighting process 50, and the threshold value process. 60 different estimation processes to estimate the estimated position of the mobile device. Therefore, those skilled in the art can adaptively modify/change/combine the different estimation processes to substitute multiple intersections in the appropriate area Zone, or directly use a plurality of first location intersections when the calculation time permits. All belong to the scope of the invention.

Furthermore, in order to compare the wireless communication positioning process 20 of the present invention and the conventional technique to solve a plurality of round intersections using the Taylor series algorithm, the following three different simulation models are substituted to show the difference between the two. In the following simulation example, the coordinates of the three base stations are assumed to be (0,0), (1732,0), (866,1500), respectively, and the units used are all meters, and for different simulation models Conducted 10,000 tests. The following describes the different simulation models.

The first simulation model is the Circular Disk of Scatters Model (CDSM), whose radius of scatter points is preset to 200 meters. In the CDSM model, there is a scattering point between the mobile device and the transmission of the plurality of base stations, and the scattering point is located in the measurement circle of a certain base station. Due to the interference of the scattering points, the arrival time and the angle of arrival measured by a plurality of base stations may vary. Please refer to FIG. 7. FIG. 7 is a Cumulative Distribution Function (CDF) of a difference between a simulation example of the present invention and a conventional technique in a CDSM model, wherein only the present invention is illustrated for the sake of brevity and clarity. (Line intersection) and conventional (circle intersection) through the distance weighting process 30 diagram, as for other estimation methods have similar trends, can be analogized. As shown in Fig. 7, under the same probability conditions, it can be clearly seen that the error distance obtained by the present invention can be smaller than the prior art, that is, the simulation example of the present invention can provide a more accurate estimation position of the mobile device.

Referring again to FIG. 8, FIG. 8 is a schematic diagram showing the calculation time required for a simulation example and a conventional technique in the CDSM model. As shown in Fig. 8, after 10,000 tests, the calculation time required by the present invention is shorter than the conventional technique (the difference in calculation time can be up to three times), that is, the estimated mobile device of the present invention. The calculation time of the simulation example can be better than the conventional technology, which can effectively reduce the complexity in the calculation process.

Referring again to FIG. 9, FIG. 9 is a schematic diagram showing the estimated root mean square comparison of a simulation example of the present invention and a conventional technique in a CDSM model. As shown in FIG. 9, compared to the distance weighting process 30 of the present invention (other processes may be analogized, not described herein), the conventional technique (Taylor series algorithm) estimates the estimated position of the mobile device. At a fixed scattering point radius, a larger root mean square error value will be obtained, i.e., using conventional techniques to estimate that the mobile device will produce a larger error value, providing relatively lower accuracy.

Furthermore, the second simulation model is a distance dependent error model, which indicates that in the arrival time measurement, the error distance and the correct distance are in a proportional relationship, which includes a proportional constant, and the arrival angle is assumed to be uniform within plus or minus five degrees. distributed. Please refer to FIG. 10, which is a schematic diagram showing the different proportional constants in the distance dependent error model according to the present invention and the prior art. As shown in FIG. 10, compared to the distance weighting process 30 of the present invention, the Taylor series algorithm of the prior art generates a large root mean square error value under a fixed proportional constant, that is, the conventional technique. It is estimated that the mobile device also has a large error value, which provides relatively low accuracy.

Referring again to Fig. 11, Fig. 11 is a cumulative probability distribution diagram of a simulation example of the present invention and a conventional technique in which the proportional constant is 0.13 in the distance dependent error model. As shown in FIG. 11, comparing the distance weighting process 30 of the present invention with the Taylor series algorithm of the prior art, it can be clearly seen that under the same probability conditions, the error distance obtained by the present invention will be smaller than the prior art. That is, the present invention can provide an accurate estimation position of the mobile device.

Finally, the third simulation model is a uniform distribution model, which means that the arrival times of a plurality of base stations are evenly distributed in a fixed interval, and the arrival angle is assumed to be evenly distributed within plus or minus five degrees. Please refer to FIG. 12 and FIG. 13 . FIG. 12 is a schematic diagram showing the upper limit value of the fixed interval according to the simulation example of the present invention and the prior art in the uniform distribution model, and FIG. 13 is a simulation example of the present invention. The conventional technique fixes the cumulative probability distribution map of the aforementioned fixed interval upper limit value in the uniform distribution model. Similar to the analysis results of the second simulation model, and as shown in FIGS. 12 and 13, the simulation example of the present invention can provide a more accurate estimation of the estimated position of the mobile device than the prior art. Do not repeat them.

In summary, according to the analysis results of the three simulation models, it can be seen that the distance weight method proposed by the embodiment of the present invention can effectively reduce the computational complexity (ie, has a shorter operation time than the Taylor series algorithm of the prior art). Moreover, the estimated position of the mobile device can be estimated more accurately (ie, having a smaller error distance); similarly, the above analysis result can also be analogized to the sorting averaging method and the sorting weight proposed by the embodiment of the present invention. Law and threshold method to provide other more efficient estimation methods for different needs.

It should be noted that, referring to FIG. 1B, the process described in the foregoing embodiment can be analogized to another wireless communication positioning system 12 formed by seven base stations BS1 to BS7. More specifically, the seven arrival times corresponding to the seven base stations BS1 to BS7 can be measured to obtain seven measurement distances and seven measurement circles. In this case, the seven measurement circles can produce up to twenty position lines. In addition, an arrival angle and an arrival line corresponding to one of the base stations BS1 to BS7 can be obtained. Finally, based on the plurality of position lines and arrival lines generated by the base stations BS1~BS7, and adding a suitable area restriction condition, the estimated position of the mobile device can be estimated. This suitable area can also be selected as the area where the seven measurement circles intersect. If the seven measurement circles cannot be overlapped in one area at the same time, the area where the most measurement circles intersect can be selected as the appropriate area. For more detailed steps, reference may be made to the foregoing wireless communication positioning system 10, the wireless communication positioning process 20, and related calculation processes, which are not described herein.

Notably, please refer to Figure 1A (three base stations) and Figure 1B (seven base stations) to understand the difference in estimated locations of mobile devices in different wireless communication systems. Sex. Under the conditions of three base stations, the use of the intersection point provides better estimation accuracy, but the complexity required for calculation is relatively high. On the other hand, if a plurality of position lines are used, although the estimation accuracy provided may be slightly worse, the computational complexity may be greatly reduced. In addition, under the conditions of seven base stations, the complexity required to calculate the intersection point is relatively high. Although fewer intersection points can be used, the corresponding estimation accuracy is poor. However, if multiple position lines are used, they also have lower computational complexity. Although more intersection numbers must be used, they can be effectively filtered through suitable regions (such as the intersection of seven circles). Good estimate accuracy. Taking into account the above differences, different solutions can be used flexibly depending on the number of base stations, depending on the number of base stations, and different options for the rounded focus or multiple position lines, combined with the selection of suitable areas, or combinations/changes All of the above conditions to provide better estimation accuracy and lower computational complexity are within the scope of the present invention.

In summary, the wireless communication positioning method for a wireless communication positioning system provided by the above embodiment provides a plurality of distance points under the conditional intersection and a distance weight by a plurality of base stations providing a plurality of position lines and an arrival line. The method, a sorting averaging method, a sorting weighting method, and a threshold value method can calculate the estimated position of the mobile device. In addition, the intersections can be filtered through the appropriate areas to further eliminate the less likely intersections to increase accuracy or reduce the amount of calculation. Therefore, the above embodiment can effectively simplify the computational complexity and provide a comparison compared with the conventional method in which the Taylor series algorithm is used to solve the round intersection point to have a more complicated calculation equation or a more verbose calculation time. Accurate error distance and save hardware resources and time required for computing.

The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.

10, 12. . . Wireless communication positioning system

20. . . Wireless communication positioning process

200, 202, 204, 206, 208, 210, 300, 302, 304, 306, 308, 400, 402, 404, 406, 408, 410, 500, 502, 504, 506, 508, 510, 600, 602, 604, 606, 608, 610. . . step

30. . . Distance weighting process

40. . . Sort average process

50. . . Sort weight process

60. . . Limit value process

BS1~BS7. . . Base station

C1, C2, C3. . . Measuring circle

D1, D2, D3. . . Measuring distance

L1. . . Arrival line

L12, L13, L23. . . Position line

P1, P2, P3 and P4. . . Intersection

Zone. . . Suitable area

FIG. 1A is a schematic diagram of a wireless communication positioning system according to an embodiment of the present invention.

FIG. 1B is a schematic diagram of another wireless communication positioning system according to an embodiment of the present invention.

FIG. 2 is a schematic flowchart diagram of a wireless communication positioning method according to an embodiment of the present invention.

FIG. 3 is a schematic flow chart of a distance weighting method according to an embodiment of the present invention.

FIG. 4 is a schematic flow chart of a sorting average method according to an embodiment of the present invention.

FIG. 5 is a schematic flow chart of a sort weight method according to an embodiment of the present invention.

FIG. 6 is a schematic flow chart of a threshold value method according to an embodiment of the present invention.

Fig. 7 is a cumulative probability distribution diagram of the difference between the simulation example of the present invention and the conventional technique in the CDSM model.

Figure 8 is a schematic diagram of the simulation time required for the simulation example and the prior art of the present invention in the CDSM model.

Figure 9 is a schematic diagram showing the estimated root mean square comparison of the simulation example of the present invention and the conventional technique in the CDSM model.

Figure 10 is a schematic diagram showing the different proportional constants in the distance dependent error model of the simulation example and the prior art of the present invention.

Figure 11 is a cumulative probability distribution diagram of the simulation example of the present invention and the prior art in the distance dependent error model with a proportionality constant of 0.13.

Figure 12 is a schematic diagram showing the upper limit values of the fixed intervals of the simulation example of the present invention and the conventional techniques in the uniform distribution model.

Fig. 13 is a cumulative probability distribution diagram in which the above-described fixed interval upper limit value is fixed in the uniform distribution model by the simulation example of the present invention and the prior art.

20. . . Wireless communication positioning process

200, 202, 204, 206, 208, 210. . . step

Claims (18)

A wireless communication positioning method for obtaining an estimated position of a mobile device, the wireless communication positioning method comprising: obtaining an angle of arrival of the mobile device relative to one of a plurality of base stations Obtaining an arrival line extending from the base station along the angle of arrival; obtaining a plurality of measurement distances of the mobile device relative to the plurality of base stations, and obtaining a plurality of measurements corresponding to the plurality of measurement distances respectively a circle; generating a plurality of position lines based on the plurality of measurement circles; and calculating the estimated position of the mobile device based on the plurality of position lines and the arrival line. The wireless communication positioning method of claim 1, wherein the step of generating the plurality of position lines according to the plurality of measurement circles comprises: dividing two intersections between any two of the plurality of measurement circles Connected into a line to produce the plurality of position lines. The wireless communication positioning method of claim 1, wherein the calculating the estimated position of the mobile device according to the plurality of position lines and the arrival line comprises: according to the arrival line and the plurality of position lines, Generating a plurality of first location intersections; and calculating the estimated location of the mobile device based on the plurality of first location intersections. The wireless communication positioning method of claim 3, wherein the calculating the estimated position of the mobile device according to the plurality of first position intersections comprises: generating a common intersection area according to the plurality of measurement points, generating a a suitable area; selecting, from the plurality of first location intersections, the plurality of second location intersections; and calculating the estimated location of the mobile device based on the plurality of second location intersections. The wireless communication positioning method according to claim 4, wherein the estimated position of the mobile device is calculated according to a distance weight method, a sorting average method, a sorting weight method, and a method according to the plurality of second position intersection points. One of the threshold methods is implemented. The wireless communication positioning method of claim 4, wherein calculating the estimated location of the mobile device according to the plurality of second location intersections comprises: obtaining an average location according to the plurality of second location intersections; The second position intersection points respectively obtain a plurality of weight values with respect to the plurality of relative distances of the average position; and calculating the position of the mobile device according to the plurality of weight values and the plurality of second intersection positions. The wireless communication positioning method of claim 4, wherein calculating the estimated position of the mobile device according to the plurality of second position intersections comprises: a plurality of relative distances between the intersections of the plurality of second positions Obtaining an average relative distance; respectively comparing the plurality of relative distances with the average relative distance to obtain a plurality of weight values; and calculating the mobile device according to the plurality of weight values and the plurality of second intersection positions position. The wireless communication positioning method of claim 1, wherein the arrival line is derived from the base station of the plurality of base stations at the angle of arrival. The wireless communication positioning method of claim 1, wherein the step of obtaining a plurality of measurement distances between the mobile device and the plurality of base stations comprises: obtaining respectively between the plurality of base stations and the mobile device a plurality of arrival times; and a plurality of measurement distances corresponding to the plurality of base stations are respectively generated according to the plurality of arrival times. The wireless communication positioning method according to claim 1, wherein the plurality of base stations are three base stations, which correspondingly generate three arrival times, three measurement circles, and three position lines. The wireless communication positioning method according to claim 1, wherein the plurality of base stations are seven base stations, corresponding to generating seven arrival times, seven measurement circles, and twenty one position lines. The wireless communication positioning method according to claim 1, wherein the base station among the plurality of base stations is the base station closest to the mobile device. The wireless communication positioning method according to claim 4, wherein the step of generating the suitable area according to the plurality of measurement circle common intersection regions comprises: if the plurality of measurement circles cannot simultaneously intersect in an area, selecting The area where the largest measurement circle intersects is taken as the suitable area. A wireless communication positioning method for obtaining an estimated position of a mobile device, the wireless communication positioning method comprising: obtaining an arrival line, the arrival line extending through one of a plurality of base stations and the mobile device; Obtaining a plurality of measurement circles respectively corresponding to the plurality of base stations, wherein the measurement circle is generated according to a plurality of measurement distances of the mobile device relative to the plurality of base stations; and generating, according to the plurality of measurement circles, generating a plurality of position lines; and calculating the estimated position of the mobile device based on the plurality of position lines and the arrival line. The wireless communication positioning method of claim 14, wherein the step of generating the plurality of position lines according to the plurality of measurement circles comprises: dividing two intersections between any two of the plurality of measurement circles Connected into a line to produce the plurality of position lines. The wireless communication positioning method of claim 14, wherein the calculating the estimated position of the mobile device according to the plurality of position lines and the arrival line comprises: according to the arrival line and the plurality of position lines, Generating a plurality of first location intersections; and calculating the estimated location of the mobile device based on the plurality of first location intersections. The wireless communication positioning method of claim 16, wherein the calculating the estimated position of the mobile device according to the plurality of first position intersections comprises: generating a common intersection area according to the plurality of measurement points, generating a a suitable area; selecting, from the plurality of first location intersections, the plurality of second location intersections; and calculating the estimated location of the mobile device based on the plurality of second location intersections. The wireless communication positioning method of claim 14, wherein the base station of the plurality of base stations is the base station closest to the mobile device.